Method, device, electronic device and medium for positioning spherical marker points in CT images

Abstract

The embodiments of the present disclosure disclose a method, device, electronic device and medium for positioning spherical marker points in CT images. The method for positioning spherical marker points in CT images includes: obtaining the initial coordinates within the spherical marker area to obtain the spherical marker point; obtaining the cropping size and search layer based on the attributes of the spherical marker point, and the search layer is multiple; performing regional cropping of the marker point based on the coordinate values ​​of two identical planes of the initial coordinates and the cropping size in different search layers to obtain a cropped image; processing the cropped image to obtain the contour information of the cropped image; obtaining a circle based on the contour information; obtaining the center of the marker point based on the sum of the coordinate points within the circle in the x, y and z directions and the total count of the points within the circle to complete the positioning of the marker point. For marker points without a gold mark or with an unfixed gold mark position, their center can be accurately obtained for the purpose of optical position detection.

Description

Technical Field

[0001] The present disclosure relates to the field of medical image processing, and in particular to a method, device, electronic device, and medium for locating spherical markers in CT images. Background Art

[0002] When detecting the position of spherical markers in CT images, an optical system typically uses a gold marker within the marker as a reference position. However, because the gold marker's position within the sphere is not fixed or sometimes even absent, it is difficult to accurately determine the reference position. Summary of the Invention

[0003] In view of this, the embodiments of the present disclosure provide a method, device, electronic device and medium for positioning spherical marker points in CT images, which at least partially solve the problem in the prior art that the reference position cannot be accurately obtained due to the non-fixed position of the gold mark in the small ball or the absence of the gold mark in some small balls.

[0004] In a first aspect, an embodiment of the present disclosure provides a method for locating spherical markers in a CT image, comprising:

[0005] Obtain the initial coordinates within the spherical marking area to obtain the spherical marking point;

[0006] Get the clipping size and search layer based on the spherical marker attributes, and the search layer can be multiple;

[0007] In different search layers, the marked points are cropped based on the coordinate values ​​of two identical planes of the initial coordinates and the cropping size to obtain a cropped image;

[0008] Processing the cropped image to obtain contour information of the cropped image;

[0009] Get a circle based on the contour information;

[0010] The center or centroid of the marker point is obtained based on the sum of the coordinate values ​​in the circle in the x, y, and z directions and the point count in the circle to complete the positioning of the marker point.

[0011] Optionally, the spherical marker attributes include spherical marker size, pixel size, and layer thickness.

[0012] Optionally, the processing the cropped image to obtain contour information of the cropped image includes:

[0013] Perform histogram threshold processing on the cropped image to obtain a binary image;

[0014] Perform edge closing processing on the binary image to obtain an edge closing processed image;

[0015] Performing edge extraction on the edge-closed processed image to obtain an edge-extracted image;

[0016] Performing filling processing on the edge extraction image to obtain a filled-processed image;

[0017] Get the maximum outline area, perimeter, and minimum bounding rectangle of the filled image.

[0018] Optionally, a circle is obtained based on the contour information, including:

[0019] Based on the contour information, it is determined whether the contour is a circle. If it is a circle, the lengths of the sides of the minimum circumscribed rectangle are compared, and a circle is drawn with the smaller of the side lengths as the diameter.

[0020] Optionally, if it is not a circle, fill the maximum contour to obtain the maximum contour binary image, and calculate the center of mass (center_x, center_y) of the maximum contour and the minimum circumscribed rectangle (X, Y, width, height) of the maximum contour binary image. Perform Dice matching on the circular binary images of the set diameter on the left, top and right sides of the maximum contour binary image to determine the direction of the marking point.

[0021] Optionally, if the mark point is on the upper side, obtain the coordinates (Xbegin, Xend) of the first pixel in the left and right directions where X is not 0 in the (Y, center_y+2) area, and use Xend-Xbegin as the diameter; and determine X begin Is it greater than X, such as X begin >X, change X begin As the starting point of the circular contour position in the maximum contour binary image, draw a circle with Xend-Xbegin as the diameter.

[0022] Optionally, if the mark point is on the left or right, obtain the Y coordinate (Y) of the first pixel in the (X, center_x+2) area that is not 0 in the up and down directions. begin , Y end ), and Y end -Y begin As the diameter of the circle, determine Y begin Is it greater than Y? If Y begin >Y, change Y begin As the starting point of the circular contour position in the maximum contour binary image, and Y end -Y begin Draw a circle as the diameter.

[0023] In a second aspect, an embodiment of the present disclosure further provides a device for locating a spherical marker point in a CT image, comprising: an initial module for acquiring initial coordinates within a spherical marker region to obtain a spherical marker point;

[0024] The acquisition module is used to obtain the cropping size and search layer based on the attributes of the spherical marker point, and the search layer can be multiple;

[0025] The cropping module is used to crop the marked points in different search layers according to the coordinate values ​​of two identical planes of the initial coordinates and the cropping size to obtain a cropped image;

[0026] A contour module is used to process the cropped image to obtain contour information of the cropped image;

[0027] Circle module, used to obtain a circle based on contour information;

[0028] The positioning module is used to obtain the center or centroid of the marker point based on the sum of the coordinate values ​​within the circle in the x, y and z directions and the point count within the circle to complete the positioning of the marker point.

[0029] In a third aspect, an embodiment of the present disclosure further provides an electronic device, the electronic device comprising:

[0030] at least one processor; and,

[0031] a memory communicatively connected to the at least one processor; wherein,

[0032] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for positioning spherical marker points in a CT image as described in any one of the first aspects.

[0033] In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a computer to execute any method for locating spherical marker points in a CT image described in the first aspect.

[0034] The present disclosure provides a method, device, electronic device, and computer-readable storage medium for locating spherical markers in CT images. The method for locating spherical markers in CT images crops the image and obtains contour information of the cropped image. A circle is obtained based on the contour information, and the center or centroid of the marker is obtained based on the sum of the coordinate values ​​within the circle in the x, y, and z directions and the number of points within the circle. This method completes the positioning and accurately obtains the center as a reference position, avoiding the influence of the presence or absence of a gold marker. This achieves the purpose of accurately obtaining the center of the spherical marker for optical position detection.

[0035] The above description is only an overview of the technical solution of the present disclosure. In order to more clearly understand the technical means of the present disclosure, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present disclosure more obvious and easy to understand, the following specifically cites preferred embodiments and describes them in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0037] Figure 1 A flowchart of a method for locating spherical marker points in a CT image provided by an embodiment of the present disclosure;

[0038] Figure 2 A flowchart of a specific example of a method for locating spherical marker points in a CT image provided by an embodiment of the present disclosure;

[0039] Figure 3 A block diagram showing the principle of a device for positioning spherical markers in a CT image according to an embodiment of the present disclosure;

[0040] Figure 4 This is a functional block diagram of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0041] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0042] It should be clear that the following embodiments of the present disclosure are described through specific concrete examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. The present disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that the following embodiments and features in the embodiments can be combined with each other in the absence of conflict. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0043] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on this disclosure, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement an apparatus and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this apparatus and / or practice this method.

[0044] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present disclosure. The illustrations only show components related to the present disclosure and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0045] Additionally, in the following description, specific details are provided to provide a thorough understanding of the examples. However, one skilled in the art will appreciate that the aspects described can be practiced without these specific details.

[0046] like Figure 1 As shown, this embodiment discloses a method for locating spherical markers in a CT image, including:

[0047] Step S101: obtaining the initial coordinates within the spherical marking area to obtain the spherical marking point;

[0048] The initial coordinates within the spherical marker area are obtained through an interactive device such as a mouse, for example, by touching on a touch screen.

[0049] Step S102: obtaining a cropping size and a search layer based on the attributes of the spherical marker point, where the search layer may be multiple;

[0050] Optionally, the spherical marker attributes include spherical marker size, pixel size, and layer thickness.

[0051] Step S103: performing regional cropping of the marked points based on the coordinate values ​​of two identical planes of the initial coordinates and the cropping size in different search layers to obtain a cropped image;

[0052] Step S104: Processing the cropped image to obtain contour information of the cropped image;

[0053] Optionally, the processing the cropped image to obtain contour information of the cropped image includes:

[0054] Perform histogram threshold processing on the cropped image to obtain a binary image;

[0055] Perform edge closing processing on the binary image to obtain an edge closing processed image;

[0056] Performing edge extraction on the edge-closed processed image to obtain an edge-extracted image;

[0057] Performing filling processing on the edge extraction image to obtain a filled-processed image;

[0058] Get the maximum outline area, perimeter, and minimum bounding rectangle of the filled image.

[0059] Step S105: obtaining a circle based on the contour information;

[0060] Optionally, a circle is obtained based on the contour information, including:

[0061] Based on the contour information, it is determined whether the contour is a circle. If it is a circle, the lengths of the sides of the minimum circumscribed rectangle are compared, and a circle is drawn with the smaller of the side lengths as the diameter.

[0062] Optionally, if it is not a circle, fill the maximum contour to obtain the maximum contour binary image, and calculate the center of mass (center_x, center_y) of the maximum contour and the minimum circumscribed rectangle (X, Y, width, height) of the maximum contour binary image. Perform Dice matching on the circular binary images of the set diameter on the left, top and right sides of the maximum contour binary image to determine the direction of the marking point.

[0063] Optionally, if the mark point is on the upper side, obtain the coordinates (Xbegin, Xend) of the first pixel in the left and right directions where X is not 0 in the (Y, center_y+2) area, and use Xend-Xbegin as the diameter; and determine X begin Is it greater than X, such as X begin >X, change X begin As the starting point of the circular contour position in the maximum contour binary image, draw a circle with Xend-Xbegin as the diameter.

[0064] Optionally, if the mark point is on the left or right, obtain the Y coordinate (Y) of the first pixel in the (X, center_x+2) area that is not 0 in the up and down directions. begin , Y end ), and Y end -Y begin As the diameter of the circle, determine Y begin Is it greater than Y? If Y begin >Y, change Y begin As the starting point of the circular contour position in the maximum contour binary image, and Yend -Y begin Draw a circle as the diameter.

[0065] Step S106: The center or centroid of the marker point is obtained based on the sum of the coordinate values ​​within the circle in the x, y and z directions and the point count within the circle, thereby completing the positioning of the marker point.

[0066] Optionally, a circle is obtained based on the contour information, including:

[0067] Based on the contour information, it is determined whether the contour is a circle. If it is a circle, the lengths of the sides of the minimum circumscribed rectangle are compared, and a circle is drawn with the smaller of the side lengths as the diameter.

[0068] Optionally, if it is not a circle, fill the maximum contour to obtain the maximum contour binary image, and calculate the center of mass (center_x, center_y) of the maximum contour and the minimum circumscribed rectangle (X, Y, width, height) of the maximum contour binary image. Perform Dice matching on the circular binary images of the set diameter on the left, top and right sides of the maximum contour binary image to determine the direction of the marking point.

[0069] Optionally, if the mark point is on the upper side, obtain the coordinates (Xbegin, Xend) of the first pixel in the left and right directions where X is not 0 in the (Y, center_y+2) area, and use Xend-Xbegin as the diameter; and determine X begin Is it greater than X, such as X begin >X, change X begin As the starting point of the circular contour position in the maximum contour binary image, draw a circle with Xend-Xbegin as the diameter.

[0070] Optionally, if the mark point is on the left or right, obtain the Y coordinate (Y) of the first pixel in the (X, center_x+2) area that is not 0 in the up and down directions. begin , Y end ), and Y end -Y begin As the diameter of the circle, determine Y begin Is it greater than Y? If Y begin >Y, change Y begin As the starting point of the circular contour position in the maximum contour binary image, and Y end -Y begin Draw a circle as the diameter.

[0071] In a specific example, Figure 2As shown, first obtain the initial coordinates (Dx, Dy, Dz) within the spherical marker area. Then, based on the spherical marker point size, pixel size, and layer thickness, obtain the cropping size (nLength) and the search range in the z direction. At different layers, the marker points are cropped based on (Dx, Dy) and nLength, with Dx and Dy as the starting coordinates and nLength as the cropping size. Direct cropping is performed using image processing functions. First, a histogram threshold is applied to the area to obtain a binary image, which is then closed to ensure regional closure. To obtain a smooth contour, contour blurring is performed, followed by edge extraction and filling, to obtain the maximum contour area, perimeter, and minimum bounding rectangle (X1, Y1, width1, height1).

[0072] Determine whether the area is a circular outline. If it is a circle, draw a circle with the smaller of width1 and height1 as the diameter, and obtain the center or centroid of the marker point based on the sum of the coordinate values ​​in the circle in the x, y, and z directions and the number of points in the circle.

[0073] If it is not a circle, get the maximum contour of the closed binary image, fill the maximum contour to get the maximum contour binary image, and calculate its centroid (center_x, center_y) and minimum circumscribed rectangle (X, Y, width, height). Then, perform Dice matching on the left, top, and right sides of the binary image with a diameter of 10mm to determine the direction of the marker point. If the marker point is on the top, get the coordinate (X) of the first pixel in the left and right directions that is not 0 in the area (Y, center_y+2). begin , X end ), at this time X end -X begin Can be used as the diameter of the circle. At this time, if X begin >X, indicating that the left side of the minimum circumscribed rectangle is not tangent to the circular outline. In order to ensure the accuracy of the circular outline drawn later, X begin As the starting point of the circular outline position in this binary image, finally draw a circle based on Dx, Dy, nlength, X, Y and diameter, and obtain the center of the marker point (point_x, point_y, point_z) according to the sum of the coordinate values ​​within the circle and the total count of the points within the circle; if the marker point is on the left or right side, obtain the coordinate (Y) of the first pixel in the up and down directions that is not 0 in the area (X, center_x+2). begin , Y end ), at this time Y end -Y begin Can be used as the circle diameter. At this time, if Y begin>Y, indicating that the upper side of the minimum circumscribed rectangle is not tangent to the circular outline. In order to ensure the accuracy of the circular outline drawn later, Y begin As the starting point of the circular outline position in this binary image, the circle is finally drawn according to Dx, Dy, nlength, X, Y and diameter, and the center of the marked point (point_x, point_y, point_z) is obtained according to the sum of the coordinate values ​​​​in the circle and the total count of the points in the circle.

[0074] As shown in FIG3 , this embodiment further discloses a device for locating a spherical marker point in a CT image, comprising: an initial module for acquiring initial coordinates within a spherical marker area to obtain a spherical marker point;

[0075] The acquisition module is used to obtain the cropping size and search layer based on the attributes of the spherical marker point, and the search layer can be multiple;

[0076] The cropping module is used to crop the marked points in different search layers according to the coordinate values ​​of two identical planes of the initial coordinates and the cropping size to obtain a cropped image;

[0077] A contour module is used to process the cropped image to obtain contour information of the cropped image;

[0078] Circle module, used to obtain a circle based on contour information;

[0079] The positioning module is used to obtain the center or centroid of the marker point based on the sum of the coordinate values ​​within the circle in the x, y and z directions and the point count within the circle to complete the positioning of the marker point.

[0080] The electronic device disclosed in this embodiment includes a memory and a processor. The memory is used to store non-transitory computer-readable instructions. Specifically, the memory may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may, for example, include read-only memory (ROM), a hard disk, a flash memory, etc.

[0081] The processor may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions. In one embodiment of the present disclosure, the processor is configured to execute the computer-readable instructions stored in the memory, causing the electronic device to perform all or part of the steps of the method for locating spherical markers in CT images described in the aforementioned embodiments of the present disclosure.

[0082] Those skilled in the art should understand that in order to solve the technical problem of how to obtain a good user experience, this embodiment may also include well-known structures such as a communication bus and an interface, and these well-known structures should also be included in the scope of protection of this disclosure.

[0083] like Figure 4 The present invention provides a schematic structural diagram of an electronic device according to an embodiment of the present invention, which is suitable for implementing the electronic device according to an embodiment of the present invention. Figure 4 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present disclosure.

[0084] like Figure 4 As shown, the electronic device may include a processing device (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage device into a random access memory (RAM). In the RAM, various programs and data required for the operation of the electronic device are also stored. The processing device, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0085] Typically, the following devices can be connected to the I / O interface: input devices such as sensors or visual information acquisition devices; output devices such as display screens; storage devices such as tapes and hard disks; and communication devices. The communication device allows the electronic device to communicate with other devices (such as edge computing devices) wirelessly or by wire to exchange data. Figure 4 The electronic device is shown with various devices, but it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed instead.

[0086] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from a ROM. When the computer program is executed by a processing device, all or part of the steps of the method for locating spherical markers in a CT image of an embodiment of the present disclosure are performed.

[0087] For detailed description of this embodiment, please refer to the corresponding description in the aforementioned embodiments, which will not be repeated here.

[0088] According to an embodiment of the present disclosure, a computer-readable storage medium stores non-transitory computer-readable instructions. When the non-transitory computer-readable instructions are executed by a processor, all or part of the steps of the method for locating spherical markers in a CT image described in the aforementioned embodiments of the present disclosure are performed.

[0089] The above-mentioned computer-readable storage media include, but are not limited to, optical storage media (e.g., CD-ROMs and DVDs), magneto-optical storage media (e.g., MOs), magnetic storage media (e.g., magnetic tapes or mobile hard disks), media with built-in rewritable non-volatile memory (e.g., memory cards), and media with built-in ROM (e.g., ROM cartridges).

[0090] For detailed description of this embodiment, please refer to the corresponding description in the aforementioned embodiments, which will not be repeated here.

[0091] The basic principles of the present disclosure have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this disclosure are merely illustrative and not restrictive, and should not be construed as necessarily possessed by each embodiment of the present disclosure. Furthermore, the specific details disclosed above are provided for illustrative purposes and to facilitate understanding, rather than as limitations. These details do not limit the present disclosure to necessarily being implemented using these specific details.

[0092] In the present disclosure, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. The block diagrams of the devices, devices, equipment, and systems involved in the present disclosure are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "including," "comprising," "having," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0093] Additionally, as used herein, "or" used in a list of items beginning with "at least one" indicates a separate list, so that, for example, a list of "at least one of A, B, or C" means A or B or C, or AB or AC or BC, or ABC (i.e., A and B and C). Furthermore, the word "exemplary" does not mean that the example described is preferred or better than other examples.

[0094] It should also be noted that in the system and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0095] Various changes, substitutions, and modifications may be made to the technology described herein without departing from the teachings defined by the appended claims. Moreover, the scope of the claims of this disclosure is not limited to the specific aspects of the processes, machines, manufactures, compositions of things, means, methods, and actions described above. Currently existing or later developed processes, machines, manufactures, compositions of things, means, methods, or actions that perform substantially the same function or achieve substantially the same results as the corresponding aspects described herein may be utilized. Accordingly, the appended claims include within their scope such processes, machines, manufactures, compositions of things, means, methods, or actions.

[0096] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0097] The above description has been provided for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for locating spherical markers in a CT image, characterized in that: include: Obtain the initial coordinates within the spherical marking area to obtain the spherical marking point; Get the clipping size and search layer based on the spherical marker attributes, and the search layer can be multiple; In different search layers, the marked points are cropped based on the coordinate values ​​of two identical planes of the initial coordinates and the cropping size to obtain a cropped image; Processing the cropped image to obtain contour information of the cropped image includes: performing histogram threshold processing on the cropped image to obtain a binary image; performing edge closing processing on the binary image to obtain an edge closing processed image; performing edge extraction on the edge closing processed image to obtain an edge extracted image; performing filling processing on the edge extracted image to obtain a filled processed image; obtaining a maximum contour area, a perimeter, and a minimum circumscribed rectangle of the filled processed image; Obtaining a circle based on the contour information, including: determining whether the contour is a circle based on the contour information; if it is not a circle, performing filling processing on the maximum contour to obtain a maximum contour binary image, and calculating the centroid (center_x, center_y) of the maximum contour and the minimum circumscribed rectangle (X, Y, width, height) of the maximum contour binary image; performing Dice matching on the maximum contour binary image with circular binary images of a set diameter on the left, top, and right sides respectively, to determine the direction of the marking point; The center or centroid of the marker point is obtained based on the sum of the coordinate values ​​in the circle in the x, y, and z directions and the point count in the circle to complete the positioning of the marker point.

2. The method for locating spherical markers in a CT image according to claim 1, wherein: The properties of the spherical marker point include the spherical marker point size, pixel size and layer thickness.

3. The method for locating spherical markers in a CT image according to claim 1, wherein: If the mark point is on the upper side, obtain the coordinates (Xbegin, Xend) of the first pixel in the left and right directions that is not 0 in the (Y, center_y+2) area, and use Xend-Xbegin as the diameter; and determine the X begin Is it greater than X, such as X begin >X, change X begin As the starting point of the circular contour position in the maximum contour binary image, draw a circle with Xend - Xbegin as the diameter.

4. The method for locating spherical markers in a CT image according to claim 1, wherein: If the mark point is on the left or right, get the Y coordinate (Y) of the first pixel in the (X, center_x+2) direction that is not 0. begin , Y end ), and Y end -Y begin As the diameter of the circle, determine Y begin Is it greater than Y? If Y begin >Y, change Y begin As the starting point of the circular contour position in the maximum contour binary image, and Y end -Y begin Draw a circle as the diameter.

5. A device for positioning spherical markers in a CT image, characterized in that: The positioning device adopts the positioning method of spherical marker points in a CT image according to any one of claims 1 to 4, and the positioning device includes: The initial module is used to obtain the initial coordinates in the spherical marking area and obtain the spherical marking points; The acquisition module is used to obtain the cropping size and search layer based on the attributes of the spherical marker point, and the search layer can be multiple; The cropping module is used to crop the marked points in different search layers according to the coordinate values ​​of two identical planes of the initial coordinates and the cropping size to obtain a cropped image; A contour module is used to process the cropped image to obtain contour information of the cropped image; Circle module, used to obtain a circle based on contour information; The positioning module is used to obtain the center or centroid of the marker point based on the sum of the coordinate values ​​within the circle in the x, y and z directions and the point count within the circle to complete the positioning of the marker point.

6. An electronic device, characterized in that: The electronic device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can perform the method for locating spherical marker points in a CT image according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, which are used to enable a computer to execute the method for locating spherical marker points in a CT image according to any one of claims 1 to 4.

Images